Programming device

ABSTRACT

The present invention pertains to a programming device (1) for multiaxial industrial robots. The housing (2) has a display (3) and a plurality of switches and/or function keys (4). It has three or more ergonomically designed grip areas (6, 7, 8, 9), wherein grip strips (6, 7, 8) are made in one piece with two or more housing edges (25, 26), and the function keys (4) are located on these grip strips within the reach of the fingers. A joystick (14) is arranged horizontally at the lateral housing edge (26), and a grip strip (8) and a thumb ball pad (15) are located in its vicinity. The housing (2) also has one or more interfaces (16, 17) for connection to external communications means, especially external input or output devices and/or external computing units.

The present invention pertains to a programming device for manipulators,especially for multiaxial industrial robots, with a display, a pluralityof switches, and at least one grip area on a housing.

Such a programming device has been known from EP-A-0 310 958. Itcomprises a narrow, box-shaped housing, which has a display screen, aplurality of switches, as well as function keys and a grip surface onboth sides. A hand strap or clamp is present for the left hand forsecuring. The device can be held only in one way, which is fatiguing inthe long run. In addition, it has no joystick.

Another programming device is shown in DE-U-88 06 214. It is likewiseintended for being held in the hand only and has two grips, which can begrasped from below, with switching keys on the underside. Theprogramming device is held lying on the forearm, with one hand graspingone of the grips. The switches or keys located on the board surface canbe actuated with the other hand. The switches and function keys arepoorly accessible and cannot be reached without changing the grip.Holding is also fatiguing, so that this programming device is alsoergonomically unfavorable for longer programming sessions, which arefrequently necessary during the teaching of an industrial robot. Inaddition, no joystick is provided.

A modified device, which is also supported on the left forearm andwherein the grip is located at a lateral housing attachment at the rightrear corner, has been known from Asea Journal, 1982, Vol. 55, No. 6, pp.145-150. This handling brings with it the same drawbacks as theabove-mentioned state of the art. The prior-art programming device has amultiaxially movable, upright standing joystick on the right side. Anangular housing attachment, which likewise projects far forward and atwhich the ball of the thumb can be supported, but offers no possibilityof gripping and holding for the device, is located before it. Theprogramming device can be held with the left hand only. The programmercan operate the device with the right hand only, actuating either thejoystick or the keys, for which he has to change his grip. Thisarrangement is not ergonomic.

JP-A-3-3787 shows a similar programming device with a lateral joystick,which can be pivoted from a horizontal resting position into an uprightworking position. There is no hand support here, which makes the deviceespecially ergonomically unfavorable.

The prior-art programming devices are connected to the control box ofthe manipulator via a multiwire electric line and have no othercommunications capabilities. As a result, the operator is limited in hisprogramming. Additional programming measures must be performed in thecontrol box, which frequently makes it necessary to walk long distances.As a result, handling is impracticable and time-consuming.

The object of the present invention is to show an ergonomically betterprogramming device.

The present invention accomplishes this object with the features in theprincipal claim.

The programming device according to the present invention has two ormore, preferably four, ergonomically designed grip areas. Due to thesedifferent possibilities of gripping, the operator can hold theprogramming device in two or more different ways, preferablytransversely and he can frequently change the position of his hands,which effectively prevents fatiguing phenomena. In addition, the gripareas are designed ergonomically and facilitate a low-fatigue holding ofthe hands.

At least two, but preferably three grip strips, which have anergonomically especially favorable shape, are provided at the housingedges in the preferred embodiment. At least some of the function keysare also associated with the grip strips within the range of thefingers, so that the keys can be actuated with comfort, without theoperator having to change the position of his hands or even to removehis hand from the board. The function keys are arranged on the top sideof the housing and can be reached with the thumb in an ergonomicallyespecially favorable manner.

One or more switching keys, which are designed as, e.g., a permissionkey and/or a start/stop key, are located on the underside of the housingin the vicinity of the grip strips and in a position favorable forgripping. It is also favorable for the switching keys and the functionkeys to be present in multiple numbers, so that the different functionsprovided can be performed from all gripping positions.

Additional device switches, key switches, emergency switches, etc., maybe arranged on the top side of the device, preferably at the housingattachment. These switches are remote control elements of the robot,which permit a continuous programming far away from the robot control.Therefore, the operator does not have to go to the robot or to thecontrol, as was usual before, to switch off drives, to set modes ofoperation, etc.

A projecting thumb ball pad is present at least at one grip strip in anergonomically especially favorable manner. If a joystick is used as amultiaxially movable control member, it is recommended that it bearranged in the vicinity of the grip strip and the thumb ball pad. As aresult, the control member can be reached and actuated comfortably fromthe grip strip, without the operator having to change his grip. There isa support for the hand, which improves the accuracy and the sensitivityduring operation. In addition, the device can be held and the controlmember can be actuated at the same time, preferably with the right hand.It is also advantageous that the function keys are also located and canbe actuated within the range of the thumb in this position of the hand,without the hand having to be removed from the control member or thegrip strip.

The multiaxially movable control member is preferably designed as ajoystick with at least three and preferably six axes. All movements of ausually six-axial industrial robot around the axes can thus be remotelycontrolled by a control member. The movements around the axes may becomplex and superimposed. The ergonomic design also makes it possible touse the control member in different ways, e.g., as a mouse or as amovement or setting controller or key for setting parameters.

Besides the grip strips arranged at the housing edges, it is alsorecommended that a grip pin be arranged on the underside of the housing.Two pins, which act as desk supports with correspondingly beveled footsurfaces, are preferably present. As a result, the programming devicecan be placed on a firm support and be operated in an ergonomicallyfavorable oblique position.

The programming device according to the present invention also hasextensive communications possibilities. It has one or more interfacesfor connection to external input or output devices, e.g., keyboards ordisplay screens and/or external computing units. The latter may be,e.g., laptop computers for programming purposes, etc. The interfaces arepreferably located recessed at the front or rear housing edge under thegrip strip.

The interfaces preferably have electric contacts, but they may also haveconnection possibilities for other, e.g., optical transmission means,such as fiber-optic cables, etc. They also permit a wireless remote datatransmission with radio, infrared light or other transmission ifsuitable transmitters/receivers are connected.

The interfaces may have different designs and accommodate cable plugs,interface cards or other suitable communications means. The underside orthe front and/or rear housing edge is a favorable place. The outlet forthe connection cable to the manipulator or to its control, if it cannotbe omitted because of the wireless remote data transmission, ispreferably also located in this area. The design makes possible anextensively trouble-free and ergonomic handling and operation of theprogramming device. In addition, the interfaces and cables are subjectto low mechanical stresses in these areas.

Additional advantageous embodiments of the present invention aredescribed in the subclaims.

The present invention is schematically represented in the drawings as anexample. Specifically,

FIG. 1 shows a top view of the programming device,

FIG. 2 shows a side view of the programming device corresponding toarrow II in FIG. 1,

FIG. 3 shows a front view of the programming device according to arrowIII in FIG. 1, and

FIG. 4 shows a simplified top view according to FIG. 1 with theunderside of the programming device made visible.

The drawings show a programming device (1), which is connected via aline (18), shown as a broken line, to the control box or the control ofa multiaxial manipulator, preferably an at least six-axial industrialrobot. The programming device (1) contains in its housing (2) acomputing and control unit, not specifically shown and described, withwhich control commands can be transmitted to the manipulator with thecontrol elements to be described in greater detail. The operator canremotely control the manipulator with the programming device (1) andprogram, e.g., its movement and/or function process. The operator maymove away from the manipulator with the programming device (1) andoperate the device from a safe location.

The programming device (1) has an essentially parallelepipedic,transverse housing with ergonomically rounded edges, which has three ormore, preferably four, ergonomically designed grip areas (6, 7, 8, 9).As a result, the operator can hold and operate the programming device(1) in different ways.

The programming device (1) is preferably held in the transverse formwith the hands at the lateral grip areas (7, 8). The side edges mayslope somewhat inwardly toward the rear side (25) of the device, so thatan ergonomically favorable, slightly trapezoidal, convergent position ofthe hands is obtained.

Grip strips (6, 7, 8), which are adapted to the shape of the hands andare made in one piece with or integrated within the housing (2), arelocated at two or more housing edges (25, 26). They have surfacesfavorable for gripping, which are, e.g., roughened or are provided withgrooves. The grip strips (6, 7, 8) are located at the rear housing edge(25) and the two lateral housing edges (26) in the preferred embodiment.

As is apparent from FIGS. 2 and 3, the rear and left-hand grip strips(6, 7) comprise a strip-shaped hump (23) made in one piece with the topside of the housing and a corresponding recessed grip (22) located onthe underside of the housing. The humps (23) are used to support thecarpal region of the hand along with the ball of the thumb. The fingersgrasp around the housing edges (25, 26) and find support in the likewisestrip-shaped recessed grips (22).

The grip strip (8) on the right-hand side (26) of the housing has asomewhat different design. It has a laterally projecting thumb ball pad(15), which is adapted to the shape of the hand and extends along thelateral housing edge (26). The thumb ball pad (15), which also forms agrip at the same time, expands starting from the top housing edge (24)and then tapers again. The level of the thumb ball pad (15) is somewhatlower than that of the surface of the housing. A longitudinallyextending recessed grip (22) is likewise located on the underside. Oneor more recessed grips (22) may alternatively also be eliminated.

The fourth grip area (9) is arranged on the underside of the housing andcomprises a grip pin (9) (cf. FIG. 4). This [pin] projects verticallyfrom the underside of the housing and is located in the right-hand halfof the programming device (1). It is intended for the left hand, and theprogramming device (1) can be supported on the forearm of the operator.A skin-friendly and soft coating may be arranged on the underside of thedevice in the area of the arm. The arrangement of the grip strip (8) orthumb ball pad (15) and of the grip pin (9) may also be transposed tothe other side of the housing for lefthanders, so that the programmingdevice (1) can also be adapted for lefthanders by correspondinglyredesigning the housing (2).

The operator can hold the programming device (1) in at least threeintended ways with the above-described grip areas (6, 7, 8, 9). On theone hand, he can grasp the lateral grip strips (7, 8) with both hands.He can also hold it by the rear grip strip (6) with the left hand andsupport it on the hip. The third possibility is the above-mentionedholding by the grip pin (9). Finally, the programming device (1) mayalso be placed on a support in an ergonomically especially favorableoperating position in the manner described below.

Most of the control elements of the programming device (1) are arrangedon the top side of the housing (2). A display (3), which is preferablydesigned as a multi-line color display with graphics capability, ispreferably located in the middle area.

Color display screens as used for portable computers are preferably usedfor this purpose. Under it is arranged, e.g., a keyboard (5), which maycontain an alphanumeric keyboard or a typewriter keyboard and optionallyadditional control keys, such as cursor keys or the like.

The movements and/or functions of the manipulator are controlledpredominantly by function keys (4), which are preferably arranged aboveand on both sides of the display (3). They may also be present under thedisplay (3). The function keys (4) are preferably arranged in one or twoparallel rows, which extend in the vicinity of and along the grip strips(6, 7, 8). The function keys are arranged such that they are locatedwithin the reach of the fingers and can be easily and comfortablyreached and especially with the thumb. Corresponding to the multiplearrangement of the grip areas (6, 7, 8), the function keys (4) may alsobe present in multiple numbers. As a result, the operator can triggerthe same functions in a plurality of areas and in different grip areas.The function keys (4) may be designed as menu-driven soft keys andcooperate with an optical operator guide at the edge of the display.

Switching keys (12), which are preferably arranged in the area of therecessed grip (22), are located at one or more grip strips (6, 7, 8) onthe underside of the housing. These are, e.g., permission keys and/orstart/stop keys. As is shown in FIG. 4, the switching keys (12) mayconsist of elongated switching strips or a plurality of shorterswitching elements. One or more switching keys (12) are also arranged atthe grip pin (9) in such a way that they can be reached with thefingers. Another key (not shown) may optionally also be present in thearea of the thumb.

The programming device (1) has a multiaxially movable control member(14), whose movements are transmitted to the translatory and rotary axesof the manipulator. The control member is designed as a six-axialjoystick (14) for the six axes of the robot in the preferred embodiment.

The control member (14) is located at one of the two lateral housingedges (26) or lateral housing surfaces and can be reached from a gripstrip (8) comfortably and without changing the grip. The control member(14) is preferably located at a closely spaced location behind the thumbball pad (15) on the right side (26) of the housing.

The control member (14) is arranged horizontally and it laterallyprojects from the housing edge (26). It is directed essentiallyhorizontally with its principal axis. The control member is designed asa joystick and has, contrary to the state of the art, a stump shape. Thegrip has no projecting shaft, but it is seated directly at the lateralhousing edge (26). The grip is thicker than in prior-art joysticks andhas a cylindrical or roller shape, whose shape and size are adapted tothe concave shape of the hollow, slightly arched hand.

In the 6-D version, the joystick (14) can be rotated or tilted aroundthe three space axes and can also be displaced translatorily around thethree space axes. The hand of the operator is supported on the thumbball pad (15) in the process, and the grip roller of the joystick (14)can be grasped and actuated with the thumb, the index finger and themiddle finger. Via the grip strip (8) and the thumb ball pad (15), theoperator can hold the device with the right hand and operate thejoystick at the same time. In addition, he can reach and actuate theadjacent function keys (4) with the thumb at the same time. Changing thegrip is not necessary.

The control member (14) may be switched over in terms of the dimensionof movement and use and may optionally be programmable. As a result, itmay be used as a mouse, with which, e.g., the cursor can be moved on thedisplay (3), in the case of a 2-D switching over. In the case of a 1-Dswitching, the control member (14) may be used as a programmablemovement or setting controller or key for setting a parameter. Thanks tothe grip strip (8) or thumb ball pad (15), the control member (14) canbe held motionless and be moved with the needed sensitivity andprecision.

A housing attachment (19), which projects to the rear as well as to theside and extends over the control member (14) from behind, is preferablylocated at the right rear housing edge (25). An emergency switch (20)and one or more 'device switches (21) are located on the housingattachment (19). These are preferably on/off switches for themanipulator, its drives or the robot control. A device switch (21) mayalso be a key switch for setting the modes of operation of the robotcontrol or for other purposes.

A second parallel pin (10) is preferably located next to the grip pin(9), preferably at a laterally spaced location therefrom, on theunderside of the housing.

A holding strap (13), with which the programming device (1) can beadditionally fastened to the hand, may also be located on the undersideof the housing. As is illustrated by FIGS. 2 and 3, the pins (9, 10) mayhave beveled foot surfaces (11), which are sloped toward the front side(24) of the housing. As a result, the programming device (1) can beplaced on a desk or another firm support in an oblique position in themanner shown in FIG. 2.

The programming device (1) has one or more electric interfaces (16, 17)for the connection of external communications means. These arepreferably external input or output devices, e.g., a computer keyboard,a monitor or the like. The interfaces (16, 17) may also be used forconnection to a computing unit, especially a portable computer. As aresult, additional programming data can be entered at the programmingdevice (1) on site and be transmitted directly to the robot control. Theoperator does not need to go to the control box to do so, but be cancomplete all control and programming tasks on site and all at once.

The interfaces (16, 17) may have electric plug contacts for cable plugs.In addition or as an alternative, they may have recessed slots withelectric, optical or other contacts for interface cards. These may be,e.g., so-called PCMCIA terminals.

Telecommunications means, e.g., radio or infrared transmitters, networkcards, modems, etc., may also be connected to the interfaces (16, 17)for communication with the control box, the robot control, a network, ahigher manufacturing process control, or the like. The line (18) mayoptionally be omitted.

The interfaces (16, 17) may be arranged in any suitable area of thehousing (2).

They are located on the underside of the programming device (1) and arearranged recessed in the preferred embodiment. However, they may also belocated at the front and/or rear housing edge (24, 25). They are shownin the rear and projecting in FIG. 1 for clarity's sake. The interfaces(16, 17) may be located under the housing attachment (19). It is alsopossible to place them in the grip area (6, 7, 8, 9). The interfaces(16, 17) may optionally be present in multiple numbers and bedistributed over different areas of the housing (2).

The line (18) is located, e.g., at the front or rear housing edge (24,25) and in the area of the left corner. As a result, it is outside thegrip areas (6, 7, 8) and does not interfere with any of the possiblegrip positions.

Various modifications of the embodiments shown are possible. Thus, fewerthan the four grip areas (6, 7, 8, 9) described may be present. Functionkeys (4) or switching keys (12) also need not be arranged in all gripareas in the manner described. The joystick (14) as well as theinterfaces (16, 17) may be omitted in a simplified embodiment.Modifications are also possible in the case of the display (3) and thekeyboard (5), which may have a simpler design. Instead of thestrip-shaped humps (23) and recessed grips (22), grip elements of asturdier design may be present. The programming device (1) may have acarrying strap for hanging it over the shoulders or the neck.

The programming device (1) preferably comprises very lightweightcomponents in order to keep the overall weight and the load on theoperator as low as possible. Most of the above-described functionalparts consist of plastic or other lightweight materials.

LIST OF REFERENCE NUMBERS

1 Programming device

2 Housing

3 Display

4 Function key

5 Keyboard

6 Grip area, grip strip

7 Grip area, grip strip

8 Grip area, grip strip

9 Grip area, pin, grip pin

10 Pin, support foot

11 Foot surface

12 Switching key

13 Holding strap

14 Control member, joystick

15 Thumb ball pad

16 Interface, keyboard

17 Interface, PC

18 Line

19 Housing attachment

20 Emergency switch

21 Device switch

22 Recessed grip

23 Hump

24 Front side of housing, front housing edge

25 Rear side of housing, rear housing edge

26 Housing side, lateral housing edge

What is claimed is:
 1. A data input device for holding by a hand of anoperator, the device comprising:a housing; a display on said housing; aplurality of function keys on said housing; a plurality of ergonomicallyshaped grip areas on said housing, said grip areas are formed in a stripshape and in one piece with a plurality of edges of said housing, asubset of said plurality of function keys is positioned within reach offingers of the hand holding said housing by one of said grip areas.
 2. Adevice in accordance with claim 1, wherein:said grip areas arepositioned on a rear and on two lateral edges of said housing.
 3. Adevice in accordance with claim 1, wherein:a subset of said plurality offunction keys is positioned on a side of said housing opposite saiddisplay and within a reach of fingers of the hand holding said housingby one of said grip areas.
 4. A device in accordance with claim 1,wherein:one of said grip areas has a projecting thumb ball pad.
 5. Adevice in accordance with claim 1, wherein:one of said grip areas on adisplay side of said housing has hump shape means for supporting a thumbof the hand and for supporting a ball of the thumb, said one grip areaalso having a recessed grip for other fingers of the hand on an oppositeside of said housing.
 6. A device in accordance with claim 1, wherein:aplurality of switch keys are also provided on said housing; saidfunction keys are positioned in range of a thumb of the hand holding oneof said grip areas and said plurality of switch keys are located in anarea of other fingers of the hand.
 7. A device in accordance with claim1, wherein:a subset of said function keys all perform a similarfunction.
 8. A device in accordance with claim 1, wherein:an attachmentincluding an emergency switch and a device switch, is arranged on saidhousing.
 9. A device in accordance with claim 1, wherein:interface meansfor connection to an external communication device is arranged on saidhousing.
 10. A device in accordance with claim 9, wherein:saidinterfaces is arranged recessed on said housing.
 11. A device inaccordance with claim 9, wherein:said interface has one of electric plugcontacts and cable plugs.
 12. A device in accordance with claim 9,wherein:said interface has slots with contacts for interface cards. 13.A device in accordance with claim 9, wherein:said communications deviceincludes means for wireless data exchange and is connected to saidinterface.
 14. A device in accordance with claim 1, wherein:said displayis designed as a multi-line display with graphics capabilities.
 15. Adevice in accordance with claim 1, wherein:a keyboard is arranged onsaid housing and is adjacent said display.
 16. A data input device forholding by a hand of an operator, the device comprising:a housing; adisplay mounted on a display side of said housing; a plurality offunction keys on said housing; a plurality of ergonomically shaped gripareas on said housing; a multiaxially movable control member is arrangedon one lateral side of said housing, said one lateral side of saidhousing being substantially perpendicular to said display side.
 17. Adevice in accordance with claim 16, wherein:said control member isdesigned as a joystick movable around six axes.
 18. A device inaccordance with claim 16, wherein:said control member is programmablefor a selectable number of axes.
 19. A device in accordance with claim16, wherein:said control member has a stump-shaped design, and includesa grip arranged adjacent to an edge of said housing.
 20. A device inaccordance with claim 16, wherein:said control member includes aroller-shaped, thick grip.
 21. A device in accordance with claim 16,wherein:said control member extends from one side of said housing and isarranged adjacent one of said grip areas.
 22. A device in accordancewith claim 21, wherein:said one of said grip areas has a projectingthumb ball pad said control member is arranged at adjacent said thumbball pad.
 23. A device in accordance with claim 16, wherein:anattachment including an emergency switch and a device switch, isarranged at a rear edge of said housing and extends adjacent to saidcontrol member.
 24. The device in accordance with claim 16, wherein:saidmultiaxial movable control member extends outward from said one lateralside of said housing; one of said grip areas is arranged on anotherlateral side of said housing diametrically opposite said one lateralside.
 25. The device in accordance with claim 16, wherein:saidmultiaxial movable control member extends substantially parallel with aplane of said display.
 26. The device in accordance with claim 16,wherein:said multiaxial movable control member has a shape and sizeadapted to a concave shape of a hollow slightly arched hand.
 27. A datainput device for holding by a hand of an operator, the devicecomprising:a housing; a display on said housing; a plurality of functionkeys on said housing; a plurality of ergonomically shaped grip areas onsaid housing; two projecting pins are arranged at spaced locations fromeach other on a side of said housing opposite said display, one of saidprojecting pins is designed as a grip pin for grasping by the hand. 28.A device in accordance with claim 27, wherein:said grip pin has aswitching key and a holding strap.
 29. A device in accordance with claim27, wherein:said projecting pins have a foot surface beveled toward afront side of said housing.